Machine tool having a workpiece changing device

ABSTRACT

A machine tool for machining workpieces, wherein the machine tool has at least one first spindle assembly with at least one working spindle on which a machining tool for workpiece machining is arrangeable, wherein the machine tool has a workpiece holding device for holding workpieces for the purpose of workpiece machining by way of the machining tool, wherein the machine tool has a guide arrangement for the relative positioning of the workpiece holding device holding the workpieces and the first spindle assembly for workpiece machining, wherein the guide arrangement comprises a workpiece-holder guide for guiding the workpiece holding device so as to position a workpiece holder holding the workpieces relative to the first spindle assembly.

This application claims priority based on an International Applicationfiled under the Patent Cooperation Treaty, PCT/EP2014/001814, filed Jul.2, 2014, which claims priority to DE102013012633.9, filed Jul. 29, 2013.

BACKGROUND OF THE INVENTION

The invention relates to a machine tool for machining workpieces,wherein the machine tool comprises at least one first spindle assemblyhaving at least one working spindle on which a machining tool formachining workpieces can be mounted, wherein the machine tool comprisesa work holding device for holding workpieces for workpiece machining bymeans of the machining tool, wherein the machine tool comprises a guidearrangement for the relative positioning of the work holding deviceholding the workpieces and of the first spindle assembly for workpiecemachining, wherein the guide arrangement comprises a work holder guidefor guiding the work holding device for a positioning of a work holderholding the workpieces relative to the first spindle assembly.

A machine tool known from DE 10 2005 028 358 A1 is equipped with a toolchanging device, for example with a laterally located tool magazine,which is fitted with machining tools by a working robot. A work holderplaced in front of a spindle assembly, the working spindles of which arearranged vertically on top of one another, holds the workpieces duringthe machining process. The known machine tool is a multi-spindle machinetool.

SUMMARY OF THE INVENTION

To solve the problem of the invention, it is provided in a machine toolof the type referred to above that it comprises a loading and unloadingdevice, in particular a working robot, for exchanging workpieces at thework holding device, which loading and unloading device follows apositioning movement of the work holder while workpieces are beingmachined during the machining process by the respective machining tool,and which loading and unloading device is configured for exchanging atleast one workpiece not being machined at the work holder while anotherworkpiece held by the work holder is being machine by the first spindleassembly.

In this context, it is a fundamental idea that the exchange ofworkpieces does not interfere with the machining process, i.e. thatworkpieces can continue to be machined while workpieces are beingexchanged at the work holder. The machining of workpieces can thereforebe carried out at the same time as the exchange of workpieces, whichmakes the machine very fast.

To synchronise the motions of the work holding device and the loadingand unloading device, a common control unit is advantageously providedfor both components, i.e. the work holding device and the loading andunloading device. It is, however, also possible for two separate controlunits to control the work holding device and the loading and unloadingdevice in a synchronised manner. For example, an advantageous embodimentof the invention provides a control unit for the work holding deviceindicated by broken lines and a control unit for the loading andunloading device, which is synchronised with the holder control unit.The two control units can communicate with one another via a bus, forexample a field bus.

A control unit for both the loading and unloading device and the workholding device is expediently configured to execute a first controlmodule and a second control module; these can be executed jointly on aprocessor of the control unit and communicate directly with one another,for example by way of a common storage area, using messages within thecontrol computer or the like. The control modules are software modules,for example. However, an advantageous embodiment can also provide foronly a single control module configured for controlling both the workholding device and the loading and unloading device, so that synchronouscontrol is ensured by this feature alone.

The loading and unloading device or its control unit expedientlycomprises an input interface via which a position signal indicating theposition of the work holding device can be received. The loading andunloading device is expediently configured to perform a superimposedpositioning movement, with a second positioning movement beingsuperimposed on a first positioning movement. The first positioningmovement is used for exchanging workpieces at a stationary work holdingdevice, which is common practice, while the second positioning movementsimultaneously follows the movement of the work holding device. Inprinciple, the loading and unloading device delivers both positioningmovements in a superimposed manner, resulting in an easy flow ofworkpiece exchange.

In addition to the simultaneous control of the loading and unloadingdevice and of the work holding device, which facilitates aquasi-simultaneous and in any case coordinated movement of the twocomponents, the work holding device can have a position marking by wayof which the loading and unloading device can follow the work holdingdevice in a manner of speaking. The position marking may, for example,be a radio marking, an optical marking or the like. By means of aso-called triangulation, it is, for example, possible for the loadingand unloading device to follow the work holding device. The term“follow” should, however, not be understood to mean that the loading andunloading device hobbles after the work holding device in a manner ofspeaking, but that a high accuracy and a simultaneous movement of thetwo components are ensured.

The loading and unloading device is expediently provided with a magazineholder for holding at least two workpieces, so that the loading andunloading device can simultaneously exchange at least two workpieces andpreferably all workpieces assigned to simultaneous machining. If, forexample, three working spindles are provided on a respective spindleassembly, three workpieces can be made available simultaneously by thework holder. The magazine holder then expediently facilitates thesimultaneous exchange of three workpieces. The number three is given byway of example only and may, for example, be replaced by two, four ormore.

On the work holding device, there is expediently provided at least onefeed slant for feeding in the respective workpiece. It is alsoadvantageous if a latching device for latching the respective workpieceto the work holding device is provided. Both measures contribute tobalancing out any imprecision in the positioning of the loading andunloading device relative to the work holding device, and the loadingand unloading device follows the machining process in a manner ofspeaking, following the movement of the work holding device.

It is advantageous if workpieces are exchanged in movement phases inwhich the work holding device moves slowly, so that the positioning taskof the loading and unloading device is made easier. The controlexplained above, for example the common control module or the variouscontrol modules, is expediently designed such that slow movement phasesare used for the effective exchange of workpieces, while the loading andunloading device is, for example, positioned away from the work holdingdevice during faster movement phases or while it initially follows asupport element of the work holding device before depositing at orremoving from the support element workpieces during a subsequent slowermovement phase.

It is preferred if the loading and unloading device is configured formoving the work holding device into a holding position provided forholding a workpiece and/or into a release position provided forreleasing or removing a workpiece. The loading and unloading devicetherefore actively operates the work holding device, so that the lattermoves, for example, into a clamping position or into a release positionfor facilitating the exchange of workpieces.

The loading and unloading device is expediently configured forpositioning the workpieces in at least one further work station awayfrom the work holding device. This work station can be used fordeburring workpieces, for example. Alternatively, workpieces can beidentified and/or measured at the further work station. This enables theloading and unloading device to perform further tasks, for exampleduring times when no workpieces have to be exchanged at a work holdingdevice.

The machine tool according to the invention may, for example, be asingle-spindle machine tool, i.e. having only one working spindle.Preferably, however, it is a multi-spindle machine tool.

In a preferred embodiment of the invention, the machine tool comprisesat least one second spindle assembly with at least one working spindle.It is obviously advantageous if the first and the second spindleassemblies (or any further spindle assemblies) have several workingspindles, for example 2, 3 or 4.

In the machine tool, it is advantageously provided that the firstspindle assembly is guided on a first spindle assembly guide of theguide arrangement and the at least one second spindle assembly is guidedon a second spindle assembly guide separate from the first spindleassembly guide of the guide arrangement, so that the spindle assembliesare movable independently of one another into a working region in whichthe workpieces are provided for workpiece machining by the work holdingdevice and a tool changing region provided for changing machining toolson the working spindles.

In this context, it is a fundamental idea that the spindle assembliesare mounted on individual spindle assembly guides, for example linearguides, rotary guides or the like, so that at least one spindle assemblycan machine workpieces while at least one other spindle assembly isinvolved in tool change, i.e. moved into the tool changing region. Thereis therefore always one of the spindle assemblies available forworkpiece machining.

The separate spindle assembly guides facilitate a collision-freemovement of the spindle assemblies, so that the spindles do not collideif, for example, one spindle assembly is machining workpieces while theother spindle assembly is moved towards the tool changing region or awaytherefrom towards the working region.

In the following description and in the embodiments illustrated in thedrawing, two movable spindle assemblies are provided by way of example,but further, for example three or four, spindle assemblies can obviouslybe provided. It is also conceivable that one spindle assembly is fittedwith only one working spindle, while two or more other spindleassemblies are multi-spindle spindle assemblies, i.e. have a pluralityof working spindles.

An advantageous embodiment provides that the spindle assemblies can bemoved towards the same tool changing side, so that tools are changed ona single, i.e. the same, tool changing side. The tool changing regionfor at least two spindle assemblies is therefore expediently provided onthe single tool changing side adjacent to the working region, so thatthe at least two spindle assemblies are moved to the same tool changingside for tool change. On the tool changing side, there is then provided,for example, a tool magazine or an operator's station for an operator.The structure of the machine is therefore very space-saving andeconomical. It is, however, possible for at least one third furtherspindle assembly to be moved to another tool changing side for toolchange. Two or more tool changing sides can therefore be provided forexample, and in this case, it is advantageous if at least two spindleassemblies have a common tool changing region.

In principle, however, it is also possible that different tool changingregions are provided for the first and the at least one second spindleassembly although separate spindle assembly guides are provided. It istherefore possible that, for example, the first spindle assembly ismoved to a first side and the other spindle assembly is moved toanother, second, side for tool change.

It is preferred if at least one bulkhead or wall is provided between thetool changing region and the working region. Tools can therefore bechanged away from the working region without, for example, coolants,chips or the like contaminating tool holders or the like at the workingspindles.

However, a bulkhead is also advantageous between the working region anda loading and unloading region provided for exchanging the workpieces atthe work holding device. This being so, the workpieces or the workholders are not contaminated, for example by coolants, lubricants or thelike, in the loading and unloading process.

In the tool changing region, a tool magazine is preferably provided. Inthe tool magazine, machining tools are stored and are available to therespective working spindle for change. It is preferred if the toolmagazine is equipped for simultaneously changing at least two machiningtools. The number of the simultaneously changeable machining toolsexpediently corresponds to the number of working spindles of therespective spindle assembly where the machining tools are to be changedor replaced. This being so, all of the working spindles can preferablychange machining tools simultaneously.

The tool magazine may, for example, be a circular magazine and/or a drummagazine and/or a chain magazine and/or a shelf magazine or acombination thereof. It is therefore possible, for example, to provide atool magazine of a first type for the first spindle assembly, such as acircular magazine, while providing a tool magazine of a second typedifferent from the first type, e.g. a shelf magazine, for the secondspindle assembly or further spindle assemblies. It is, however,expedient if one and the same tool magazine is assigned to at least twoand preferably to all of the spindle assemblies mobile by way of thespindle assembly guides.

The spindle assembly guides are expediently designed as linear guides.It is, however, conceivable that the first spindle assembly guide has aconstruction which differs from that of the spindle assembly guide ofthe second spindle assembly or further spindle assemblies, so that alinear guide and a rotary guide are provided, for example.

It is preferred if the first spindle assembly guide and the secondspindle assembly guide have parallel guide or movement axes. The guideaxes of at least one spindle assembly guide and expediently of allspindle assembly guides expediently are horizontal guide axes.

The working spindles of at least one of the spindle assemblies areexpediently arranged side by side in a row direction. The row directionmay be a horizontal or a vertical row direction. It is preferred if therow direction is parallel to a guide or movement axis of the respectivefirst spindle assembly guide or of the at least one second spindleassembly guide.

At least two working spindles of a spindle assembly are expedientlyarranged horizontally next to one another or horizontally on top of oneanother. In at least one spindle assembly, however, working spindlesarranged on top of one another and next to one another can be provided,for example.

In the working region, at least one stationary spindle assembly with atleast one working spindle is expediently provided. The stationaryspindle assembly can obviously have several working spindles.

The stationary working spindle(s) is (are), for example, suitable forproviding special positioning mechanics, in particular for a fineadjustment of the machining tool relative to the workpiece to bemachined. For example, a fine bore can be produced with the at least onestationary working spindle.

The first spindle assembly and/or the at least one second spindleassembly is/are expediently located in the working region below the atleast one stationary spindle assembly. The respectively assigned spindleassembly guide can therefore be routed close to the floor or theunderground, for example directly on a machine bed of the machine tool.In addition, the at least one stationary spindle assembly is readilyaccessible for a tool change; this will be explained in greater detaillater.

A loading and unloading device for exchanging workpieces at the workholding device is preferably provided. The loading and unloading devicecan, for example, be represented by a working robot, or else by anotherloading and unloading unit which may be less flexible in applicationthan a working robot.

The loading and unloading device is expediently configured forengagement with the working region and for exchanging the machiningtools at one or more working spindles in the working region, for exampleat the above-mentioned stationary spindle assembly or at least onestationary working spindle. The working robot can therefore, forexample, directly enter the working region and there exchange machiningtools at one or more working spindles. It may, for example, be providedthat the loading and unloading device is designed for passing through aframe of the tool holding device to the working spindle where themachining tool is to be exchanged.

It is also expedient if the loading and unloading device is designed forplacing the machining tools in a tool magazine, for removing them from atool magazine or both. It is advantageous if the loading and unloadingdevice is, in addition to exchanging workpieces, also configured forexchanging machining tools at the tool magazine referred to above. Thismeans that the tool magazine can also be served by the loading andunloading device, for example by the working robot.

The guide arrangement expediently comprises a work holder guide forguiding the work holding device for positioning a work holder holdingthe workpieces relative to the respectively operating machining tools.This being so, the workpiece can be moved relative to the machining toolfor the preferably chip removal-type machining process.

The work holder guide comprises, for example, one or more slides bymeans of which the work holder can be adjusted, for example in theZ-direction and/or in the Y-direction and/or in the X-direction.

At this point, it should be said that the positioning work can obviouslybe performed by the respective working spindle, in particular by thespindle assembly, as well. For example, the first and/or the at leastone second spindle assembly can be positioned for workpiece machiningusing the spindle assembly guides. The spindle assemblies areexpediently positioned in the X-direction, but they can also bepositioned in the Z-direction and/or in the Y-direction and/or in theX-direction.

The work holder guide is expediently configured for guiding the workholder in at least one workpiece guide axis extending across, forexample at a right angle to, the spindle assembly guide axes of thefirst spindle assembly guide and/or of the second spindle assembly guideof the at least one first or second spindle assembly.

A preferred embodiment, which is illustrated in greater detail in thedrawing, provides that the spindle assembly guides of the first spindleassembly and of the at least one second spindle assembly are providedfor linear adjustment parallel to a first spindle assembly guide axis.The first guide axis is a horizontal X-axis, for example.

The work holder guide is expediently configured for guiding the workholder parallel to a second guide axis extending at right angles to thefirst spindle assembly guide axis, for example a horizontal Z-axis. Thisbeing so, the respective spindle assembly can, for example, be moved inthe X-direction, while the workpieces are guided by the work holdingdevice in the direction of the spindle axes of the working spindles,i.e. in the Z-direction, by way of the work holder guide, for example aslide, and/or in the Y-direction.

In this context, it is expedient if the work holder can be traversed inthe direction of a third guide axis as well, which advantageouslyextends vertically in the Y-direction. In any case, the third guide axisis expediently perpendicular to the first and second guide axes.

As mentioned above, the first spindle assembly guide and/or the secondspindle assembly guide (or each further spindle assembly guide)facilitate(s) a positioning and/or an infeed movement of the respectivespindle assembly to at least one workpiece to be machined.

The working spindles of at least one spindle assembly or of all spindleassemblies are expediently arranged stationary in the respective spindlehousing. It is, however, also possible for at least one working spindleto be movable in the respective spindle housing, for example for aninfeed movement to the respective workpiece to be machined.

The spindle assembly guides—in any case at least one spindle assemblyguide—of the spindle assemblies are expediently mounted on a tower- orportal-type frame. It is also possible for the spindle assembly guidesof two spindle assemblies to be mounted on separate frames. The term“frame” can in this context be understood, for example, as a type ofmachine bed or guide bed on which a spindle assembly guide is mounted.As a result, one spindle assembly guide can, for example, extend at alow level close to the machine bed, while another spindle assembly guidelocated above is mounted on a frame.

Owing to the flexible concept of the invention, the spindles of thefirst spindle assembly and the spindles of the at least one secondspindle assembly can simultaneously be brought into machining engagementwith the workpieces held by the work holding device. It is, however,also possible for the spindle assembly guides of the spindle assembliesto be spaced in such a way that, while workpieces are being machined bythe one spindle assembly, the other spindle assembly can be moved pastthe work holder or the workpieces, for example for moving towards thetool changing region or from the tool changing region back into theworking region.

The work holding device may, for example, comprise a so-calledreversible twin-clamping mechanism. The work holders of this reversibletwin-clamping mechanism are pivotably mounted on a frame with two arms,the two arms pivoting about a central pivot axis. At these arms, thework holders can pivot relative to the central pivot axis in the mannerof planets. The work holding device can, for example, comprise a workholder with a plurality of work holding regions, the work holder beingdesigned in the manner of a beam and pivoting about a pivot axis.

The machine tool according to the invention is expediently intended forchip removal from workpieces. The workpieces are preferably enginecomponents, for example connecting rods, engine blocks or the like. Themachining tools are expediently milling heads, drills, turning tools orthe like.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention are explained below with reference to thedrawing, of which:

FIG. 1 is a perspective oblique view of a first machine tool accordingto the invention with a shelf magazine and a control unit,

FIG. 2 shows the machine tool from FIG. 1, but with two further workstations served by a loading an unloading device in the form of aworking robot,

FIG. 3 shows the machine tool from FIG. 1, but illustrating details bypartially removing components,

FIG. 4 shows a variant of the embodiment from FIG. 1, but with a drummagazine,

FIG. 5 shows a further variant of the embodiment from FIG. 1, but with achain magazine, and

FIG. 6 shows a second embodiment of a machine tool according to theinvention with an alternative spindle assembly guide arrangement.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

In the following description, identical or similar components are partlyidentified by the same reference numbers. In the case of those variantsof the machine tool from FIG. 1 which are shown in FIGS. 4 and 5,reference numbers with an added letter “a” or “b” are used on occasion,while the reference numbers for the embodiment according to FIG. 6 areincreased by 100 compared to FIGS. 1 to 5. The variants mentioned in thecontext of the different embodiments can obviously be combined readily.

On a machine bed 11 of a machine tool 10, a frame 20 with a firstspindle assembly 21, a second spindle assembly 22 and a third spindleassembly 23, each having a total of four working spindles 24, ismounted.

On the diagrammatically illustrated working spindles 24, machining tools25, in particular drill heads, milling tools or the like, which are inparticular provided for chip removal or a grinding operation, arereleasably mounted. With these machining tools, workpieces P illustrateddiagrammatically in FIG. 3 can be machined. The workpieces P may, forexample, be connecting rods or other metal components. The machine tool10 is obviously suitable for other workpieces as well, for example forengine blocks or the like. In this context, it should be stated that amachining of engine components is a preferred application of theinvention.

The frame 20 is constructed in the manner of a tower.

The spindle assemblies 21 to 23 are arranged vertically on top of oneanother, i.e. in the direction of a Y-axis. The spindle assembly 21 isthe bottom unit, the spindle assembly 22 the middle unit and the spindleassembly 23 is the top unit of the arrangement.

The working spindles 24 of the spindle assemblies 21 to 23 are in eachcase accommodated in a spindle housing 26.

The spindle assembly 23 is stationary in the working region A of themachine tool 10, which is provided for machining workpieces, while thetwo other spindle assemblies 21, 22 are mobile spindle assemblies in amanner of speaking, being movable between the working region A and atool changing region W. In the tool changing region W, machining toolsare exchanged, while the workpieces P are machined in the working regionA. The tool changing region W is provided on a tool changing side 42adjacent to the frame 20.

A guide arrangement 30 with a first spindle assembly guide 31 for thespindle assembly 21 and a second spindle assembly guide 32 for thespindle assembly 22 facilitate the movement of the spindle assemblies21, 22 between the working region A and the tool changing region W.

The spindle assembly guides 31, 32 comprise guide rails 35, which extendin the direction of guide axes 33, 34 and on which the spindle housings26 of the spindle assemblies 21, 22 are mounted for linear movement inthe manner of slides. Linear guides 36 are thus implemented. The spindlehousings 26 can obviously form slides themselves, but they can also bemounted on a slide.

The slides or spindle housings 26 of the spindle assemblies 21, 22 canbe driven independently by drives 37, 38 and can therefore be movedindependently along the guide axes 33, 34. The drives 37, 38 areelectric motors and/or fluidic, e.g. pneumatic or hydraulic, drives, forexample.

The guide axes 33, 34, which can also be described as movement axes,extend parallel to an X-direction, i.e. in the X-direction in a mannerof speaking.

The working spindles 24 of each spindle assembly 21, 22, 23 are arrangedin a row direction 27 adjacent to one another in the same way as theguide rails 33, 34, i.e. in the direction of the X-axis.

The spindle assemblies 21, 22, 23 have a quasi-flat configuration andcan therefore be arranged indirectly on top of one another at a smalldistance in the direction of the Y-axis.

The working region A and the tool changing region W are, for example,separated from one another by a bulkhead 40, so that any chips, coolantor the like found in the working region A cannot enter the tool changingregion W.

A further bulkhead 41, which is also indicated diagrammatically, isprovided between the working region A and a loading and unloading regionS provided for exchanging workpieces P.

The bulkheads 40, 41 can obviously be multi-part units and comprise oneor more movable components. The bulkhead 40 can have one or moreopenings, enabling the spindle assemblies 21, 22 to be moved from theworking region A to the tool changing region W and vice versa.

The bulkhead 41 can likewise have one or more openings. In any case, thebulkhead 41 allows a work holding device 50 to be movable.

The work holding device 50 comprises a work holder 51, for example. Thework holder 51 comprises a beam-type holding body 52 with a plurality ofwork holding regions 53, 54 (or further work holding regions), which arearranged at an angle to one another. The holding body 52 is mounted onbearing blocks 56 for pivoting about a pivot axis 55. The bearing blocks56, together with the holding body 52, in their turn form a slide 57,which is movably mounted on a frame-like base 58 of the work holdingdevice 50, being movable in a Y-direction.

At a front side of the frame 58, which faces the frame 20, there may,for example, be guide rails of a work holder guide 59, which facilitatea movement of the work holder 51 in the Y-direction. A diagrammaticallyindicated drive 60 drives the slide 57. The work holder guide 59 is alinear guide.

The frame 58 is likewise mounted for linear movement on guide rails 61of a work holder guide 62, moving not in the Y-direction, however, butin the direction of a Z-axis. The frame 58 can therefore move the workholder 51 in the manner of a slide towards the working spindles 24 andaway therefrom along the Z-axis, for example in order to produce bores.

The work holder guides 59, 62 guide the work holder 51 in the directionof a first workpiece guide axis 63 and a second workpiece guide axis 64.

The other slide 57 facilitates the movement of the work holder 51 in thedirection of the Y-axis, so that the work holder 51 can be positionedrelative to the spindle assembly 21, 22, 23 involved in the machiningprocess. The spacing of these spindle assemblies 21, 22, 23 in theY-direction is preferably dimensioned such that the spindle assembly 21,for example, can be moved from the working region A into the toolchanging region W without impediment, while the work holder 51 stands infront of the spindle assembly 22 or 23. It is, however, also possible tochoose a smaller spacing in the Y-direction, for example between thespindle assemblies 22 and 23, so that the working spindles 24 of twospindle assemblies 21 and 22 or 22 and 23 can machine workpieces Psimultaneously if they are made available frontally by the work holder51.

For positioning workpieces P relative to the machining working spindles24, the guide arrangement 30 comprises both the spindle assembly guides31, 32 and the work holder guides 59, 62. All guides are linear guides,but it is possible for one or more guides to be designed as rotaryguides, so that workpieces P and/or working spindles 24 are pivoted formachining, for example. It is, for example, possible for the work holder51 to be pivoted about the pivot axis 55 in the machining process.

In the tool changing region, a tool magazine 70, 170, for example ashelf magazine 71 (FIGS. 1 and 2) or a shelf magazine 171 as in themachine tool 110 shown in FIG. 6, is expediently provided.

The machine tool 10 a, on the other hand, is provided with a drummagazine 72, while the machine tool 10 b has a chain magazine 73.

All tool magazines 70, 170 allow the simultaneous exchange of severalmachining tools 25 at the spindle assembly 21, 22 presently located inthe tool changing region W. The machining tools 25 made available at anyone time are arranged side by side in the row direction 27.

A holder 74 a of the shelf magazine 71, 171 may, for example, haveseveral tiers, in each of which are located four machining tools 25arranged side by side in the row direction 27. The holder 74 a of theshelf magazine is, for example, guided on a stand 74 for linear movementin the Y-direction and can be positioned by a drive not shown in thedrawing for bringing the currently required row of machining tools 25into position in front of the respective spindle assembly 21, 22.

In the drum magazine 72, a drum 75 is movable in the Y-direction bymeans of a slide 76 on a stand 77. On its outer circumference, parallelto its axis of rotation 78, about which it is mounted to rotate on thestand 77, the drum 75 is provided with several rows of tool holders 80for machining tools 25. By rotating about the axis of rotation 78, asuitable row of tool holders 80 or machining tools 25 respectively canbe brought into position in front of the spindle assembly 21 or 22,while the slide 76 adopts the suitable Y-position. For simplicity, thedrives for the drum 75 and the slide 76 are not shown.

The chain magazine 73 comprises several chain runs 79, for example 3 or4 (corresponding to the number of working spindles 24 of the respectivespindle assembly 21). The chain runs 79 support tool holders 80 forholding machining tools 25.

The chain runs 79 or the tool holders 80 mounted thereon are arrangedside by side in the row direction 27, so that 4 tool holders 80 can bein position in front of the spindle assembly 21 and the spindle assembly22 whenever these spindle assemblies 21, 22 are in the tool changingregion W. On any one chain run 79, 2 tool holders 80 can, for example,be arranged in the row direction 27.

The chain runs 79 are advantageously arranged in such a way that a frontsection 81 of the run extends in the tool changing region W in front ofthe respective spindle assemblies 21, 22 or in front of the section ofthe spindle assembly guides 31, 32 which extends into the tool changingregion W, while a rear section 82 of the run is easily accessible, forexample for an operator B or a loading and unloading device 90. Betweenthe sections 81, 82, there are sections 83, 84, which extend along orparallel to the Z-axis, for example.

With the various tool magazines 70, 170, it is therefore possible forthe spindle assembly 21, 22 which is currently in the tool changingregion W to deposit all machining tools 25 simultaneously in free toolholders 80 and to pick up another group of machining tools 25. Thisprocess is very fast and effective. In this context, it has to be notedthat, during the tool change, the respective other spindle assembly 21,22 continues the machining process in the working region A, allowing foruninterrupted operation.

The handling and the optimised fast machining process are improvedfurther by the efficiently operating loading and unloading device 90described below.

The machine tool 10, 110 is equipped with a working robot 91, which isprovided for exchanging the workpieces P at the work holding device 50and forms the loading and unloading device 90. The loading and unloadingdevice 90, however, exchanges workpieces P not only while the machinetool 10, 110 is stopped, i.e. while the work holder 51 is stationary,but also while the latter moves relative to the frame 20, for examplealong the tool holder guide 59 and/or 62 during the machining process.The working robot 91 follows this movement.

The working robot 91 comprises a pedestal 92, for example, on which abase 93 is mounted for rotation about an axis 94. From the base 93, anarm 95 extends, which is in turn mounted on the base 93 for pivotingabout a further axis 96. The arm 95 in turn supports a further arm 97for pivoting about an axis 97 a. This being so, a gripping element 98mounted at the front of the arm 97 is largely capable of free movementin three dimensions. The working robot 91 may, for example, be aso-called articulated arm robot.

The gripping element 98 supports a magazine holder 99, for example, bymeans of which the working robot 91 or the loading and unloading device90 can simultaneously pick up and/or deposit several workpieces P, forexample 4.

A control unit 100, for example with a processor 101, is configured forthe control of the loading and unloading device 90 and the work holdingdevice 50. Suitable control lines (not shown) are, for example, providedbetween the control unit 100 and the loading and unloading device 90 aswell as the work holding device 50. The control unit 100 furthercomprises a memory 102, in which a control module 103 is stored. Thecontrol module 103 is a programme module with a programme codeexecutable by the processor 101. By executing the control module 103,the control unit 100 controls the loading and unloading device 90 andthe work holding device 50 simultaneously in such a way that the workholding device 50 positions the workpieces P relative to the workingspindles 24 for machining while the working robot 91 simultaneouslyfollows this movement and exchanges workpieces P which are, for example,in the work holding region 53 or 54 and not pivoted into the workingregion A.

In addition, the loading and unloading device 90 is multi-functionalinsofar as it can, for example, place machining tools 25 in the toolmagazine 70 or remove them when no workpiece exchange is imminent and/orthe machine tool 10 has a break.

By way of example, FIG. 2 shows 2 further work stations Q and R, wherethe workpieces P can be deburred and measured, for example. The workingrobot 91 can, for example, initially remove the workpieces P from thework holder 51 and then successively deposit them at the work stations Qand R for further processing.

In the concept of the machine tool 110 according to FIG. 6, componentsmatching the above description are drawn and indicated using the samereference numbers.

On the top of a frame 120 of the machine tool 110, a stationary spindleassembly 123 is provided, below which is located a spindle assembly 122,which can be moved along a spindle assembly guide 132 between theworking region A and the workpiece changing region W in the direction ofthe X-axis. Below the spindle assembly 122, there is a further mobilespindle assembly 121, which is likewise movable in the direction of theX-axis between the working region A and the workpiece changing region W.Like the spindle assemblies 21 and 22, the spindle assemblies 121 and122 can therefore be moved between the working region A and theworkpiece changing region W for machining or for the exchange ofworkpieces.

There is, however, a difference in that the guide rails 135 of thespindle assembly guide 132 are directly mounted on the frame 120, forexample at the front facing the work holding device 50, while the guiderails 139 of the spindle assembly guide 131 are mounted below on themachine bed 11. The guide elements of the spindle assembly guides 131,132 are therefore not placed on one and the same base.

FIG. 6 further shows that the mobility of the working robot 91 isdesigned such that it can project or grip as far as the working spindles24 of the stationary spindle assembly 23, 123. Its gripping element 98can, for example, remove machining tools 25 from these stationaryworking spindles 24 and exchange them against other machining tools 25.The gripping element 98 can, for example, deposit the machining tools 25in one of the tool magazines 70, 170 or pick them up from there. Thisprovides a further function for the loading and unloading device 90.

A further control concept for the loading and unloading device 90, whichmakes it follow the positioning movements of the work holding device 50,is indicated in the context of FIG. 6.

In this embodiment, the control unit 100 comprises a first controlmodule 104 for the control of the work holding device 50 and a secondcontrol module 105 for the control of the loading and unloading device90, both of which are directly executed by the processor 101. Aparticularly simple aspect of this concept is that the control modules104, 105 directly communicate with one another, for example for matchingthe movement of the loading and unloading device 90 to that of the workholding device 50. The control module 105, for example, is provided withan input interface 106, via which the control module 105 receives fromthe control module 104 position messages relating to imminent or currentpositioning movements of the work holding device 50.

A further variant can provide that, for example on the work holder 51, aposition marking 107 is provided, which is detected by a locating device108 on the loading and unloading device 90. The locating device 108comprises, for example, at least one radio receiver, a camera or otherreceiving elements designed for radio-based or optical location. Usingthe position marking 107, the loading and unloading device 90, forexample the control module 105, can detect the current position of thework holder 51 and therefore simultaneously track the position of thegripping element 98 or the magazine holder 99 respectively.

The locating device 108 and the position marking 107 are alsoadvantageous for the implementation of a safety concept, i.e. usingthese components, the control module 103 or 104 checks whether theloading and unloading device 90 is optimally positioned relative to thework holding device 50.

This positioning can obviously be subject to certain tolerances. In thiscase, it is advantageous if a latching device 15 and/or a feed slant ordevice 16 is/are provided in the tool holding regions 53, 54 on thediagrammatically illustrated work holders, which may, for example,include clamping jaws, a clamping face or the like.

The invention claimed is:
 1. A machine tool for machining workpieces, wherein the machine tool comprises at least one first spindle assembly having at least one working spindle on which at least one working spindle a machining tool for machining workpieces can be mounted, wherein the machine tool comprises a work holding device including a work holder for holding workpieces for workpiece machining by means of the machining tool, wherein the machine tool comprises a guide arrangement for the relative positioning of the work holding device holding the workpieces and of the at least one first spindle assembly for workpiece machining, wherein the guide arrangement comprises a work holder guide for linearly guiding the work holding device for a positioning of the work holder holding the workpieces relative to the at least one first spindle assembly, and wherein the machine tool further comprises a loading and unloading device for exchanging workpieces at the work holding device, wherein a control unit is configured to cause the loading and unloading device to follow a positioning movement of the work holder as the work holder is linearly guided by the guide arrangement while workpieces are being machined by the respective machining tool, and to cause the loading and unloading device to exchange, at the work holder, at least one workpiece not being machined while another workpiece held by the work holder is being machine by the at least one first spindle assembly.
 2. A machine tool according to claim 1, wherein in order to synchronise the movements of the work holding device and the loading and unloading device, the machine tool comprises: (i) the control unit being a common control unit for controlling the work holding device and the loading and unloading device, or (ii) the control unit includes a holder control unit provided for controlling the work holding device and a loading and unloading control unit synchronised with the holder control unit and provided for controlling the loading and unloading device.
 3. A machine tool according to claim 1, wherein the control unit is configured for: (i) the execution of a first control module and a second control module, which can be executed jointly on a processor of the control unit and directly communicate with one another, via a common storage area, or (ii) wherein the control unit is configured for the execution of a single control module, which is configured for the control of the work holding device and the loading and unloading device.
 4. A machine tool according to claim 1, wherein the loading and unloading device or its control unit comprises an input interface, via which a position signal indicating the position of the work holding device can be received by the control unit, and wherein the loading and unloading device is further configured to perform additional positioning movements, including a positioning movement provided for exchanging workpieces at the work holding device while the work holding device is stationary.
 5. A machine tool according to claim 1, wherein a position marking is provided on the work holding device, and wherein the loading and unloading device comprises a locating device for locating and tracing the position marking, so that the loading and unloading device can follow a movement of the work holding device.
 6. A machine tool according to claim 1, wherein a workpiece magazine for holding at least two workpieces is provided on the loading and unloading device, so that the loading and unloading device can simultaneously exchange at least two workpieces at the work holding device.
 7. A machine tool according to claim 1, wherein at least one feed device for feeding the respective workpiece and/or a latching device for latching the respective workpiece is/are provided on the work holding device.
 8. A machine tool according to claim 1, wherein the work holding device is configured to be moved into a holding position provided for holding a workpiece and/or into a release position provided for releasing and removing a workpiece.
 9. A machine tool according to claim 1, wherein the loading and unloading device is configured for positioning the workpieces in at least one further working station, away from the work holding device, for deburring and/or measuring of the workpieces.
 10. A machine tool according to claim 1, wherein the loading and unloading device is, in addition to exchanging workpieces, configured for passing through a frame of the work holding device, and is configured for exchanging machining tools at a tool magazine and/or at at least one stationary working spindle in a working region.
 11. A machine tool according to claim 1, further comprising at least one second spindle assembly having at least one working spindle.
 12. A machine tool according to claim 11, wherein the at least one working spindle of the at least one first spindle assembly comprises at least two working spindles, and/or the at least one working spindle of the at least one second spindle assembly comprises at least two working spindles.
 13. A machine tool according to claim 12, wherein the at least one first spindle assembly is guided on a first spindle assembly guide of the guide arrangement, and wherein the at least one second spindle assembly is guided on a second spindle assembly guide that is separate from the first spindle assembly guide of the guide arrangement, so that the at least one first spindle assembly and the at least one second spindle assembly are movable independently of one another into: (i) a working region, in which the workpieces are machined on the work holding device, and (ii) a tool changing region in which machining tools of the working spindles are exchanged.
 14. A machine tool according to claim 13, wherein the tool changing region is provided for at least two of the spindle assemblies, is provided on a single tool changing side of the machine tool, and is adjacent to the working region, so that the at least two spindle assemblies are moved to the same tool changing side of the machine tool for tool change. 